feat: support ipm

CMakeLists.txt

@@ -1,29 +1,58 @@
-cmake_minimum_required(VERSION 3.1) 
-project(lightNet-TRT VERSION 1.0)            
-enable_language(CUDA)
+# cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.14)
+project(lightnet_trt VERSION 1.0)         
+
+enable_language(CUDA) # not supported on CMAKE 3.14
 
 find_package(OpenMP REQUIRED)
-set(CMAKE_CXX_COMPILIER "/usr/bin/g++")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -Wno-write-strings ${OpenMP_CXX_FLAGS} -fopenmp")
+set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr") # Added for CMAKE 3.14
+set(CMAKE_CXX_COMPILER "/usr/bin/g++")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -Wno-unused-function -Wno-maybe-uninitialized -Wno-narrowing -Wno-misleading-indentation -Wno-unused-but-set-variable -Wno-unused-variable -Wno-return-type -Wno-deprecated-declarations -Wno-write-strings -Wno-reorder -Wno-sign-compare -Wno-unused-parameter -Wno-unused-value -Wno-uninitialized ${OpenMP_CXX_FLAGS} -fopenmp")
 #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O0 -g -Wno-write-strings")
 #set(CMAKE_CXX_FLAGS_DEBUG "-O0 -ggdb -g")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath -Wl,$ORIGIN")
 
-
-
 include_directories(/usr/local/cuda/include)
 find_package(CUDA REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
 file(GLOB_RECURSE sources modules/*.hpp modules/*.cpp modules/*.h modules/*.cu extra/*.h module/preprocess.cu)
 add_library(detector SHARED ${sources})
+
 target_include_directories(detector PRIVATE extra/ modules/ ${OpenCV_INCLUDE_DIRS} ${CUDA_TOOLKIT_ROOT_DIR}/include)
-target_link_libraries(detector nvinfer nvinfer_plugin nvparsers gflags "stdc++fs")
+target_link_libraries(detector ${CUDA_LIBRARIES} nvinfer nvinfer_plugin nvparsers gflags "stdc++fs")
+
+add_executable(lightnet_trt samples/sample_detector.cpp ${sources})
+
+target_include_directories(lightnet_trt PRIVATE modules/ extra/)
+target_link_libraries(lightnet_trt ${CUDA_LIBRARIES} ${OpenCV_LIBS} nvinfer nvinfer_plugin nvparsers gflags boost_system boost_filesystem "stdc++fs" "stdc++")
+
+
+# ROS 2 package
+if(BUILD_ROS2_LIGHTNET_TRT)
+  find_package(autoware_cmake REQUIRED)
+  autoware_package()
 
+  find_package(Eigen3 REQUIRED)
 
-add_executable(lightNet-TRT samples/sample_detector.cpp ${sources})
+  # build nodelet
+  # TODO
 
+  # build node
+  ament_auto_add_executable(lightnet_trt_node
+    src/main.cpp
+    src/lightnet_trt_node.cpp
+    src/lightnet_trt_core.cpp
+    src/utils.cpp
+  )
+  ament_target_dependencies(lightnet_trt_node)
+  target_include_directories(lightnet_trt_node PRIVATE modules/ extra/)
+  target_link_libraries(lightnet_trt_node detector)
+  target_link_libraries(lightnet_trt_node ${CUDA_LIBRARIES} ${OpenCV_LIBS} Eigen3::Eigen nvinfer nvinfer_plugin nvparsers gflags boost_system boost_filesystem "stdc++fs" "stdc++")
 
-target_include_directories(lightNet-TRT PRIVATE modules/ extra/)
-target_link_libraries(lightNet-TRT  ${OpenCV_LIBS} nvinfer nvinfer_plugin nvparsers gflags boost_system boost_filesystem "stdc++fs" "stdc++")
+  ament_auto_package(INSTALL_TO_SHARE
+    launch
+    configs
+  )
+endif()

README.md

@@ -115,6 +115,24 @@ Inference from images
 $ ./lightNet-TRT --flagfile ../configs/lightNet-BDD100K-det-semaseg-1280x960.txt --precision [kFLOAT/kHALF/kINT8] {--dla [0/1]} --d VIDEO
 ```
 
+### Inference with ROS 2 node
+
+You can build as follows. Note that current implementation requires Autoware installed and sourced.
+
+```bash
+mkdir lightnet_trt_ws/src -p
+cd lightnet_trt_ws/src
+git clone https://github.com/kminoda/lightNet-TRT-ROS2.git
+cd ..
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_ROS2_LIGHTNET_TRT=ON
+```
+
+Then, you can run the node as follows.
+
+```bash
+ros2 launch lightnet_trt lightnet_trt.launch.xml
+```
+
 ## Implementation
 
 LightNet-TRT is built on the LightNet framework and integrates with TensorRT using the Network Definition API. The implementation is based on the following repositories: